IRJET - Pick and Place Surveillance Robot

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 04 | Apr 2020 www.irjet.net p-ISSN: 2395-0072
© 2020, IRJET | Impact Factor value: 7.34 | ISO 9001:2008 Certified Journal | Page 1595
Pick and Place Surveillance Robot
Mr. Parag Barke1, Mr. Prathamesh Bodas2, Mr. Gauresh Bowlekar3, Mr. Amish Hingu4
6Guided By: Dr. Sanjay Deshmukh
1,2,3,4Rajiv Gandhi Institute of Technology, Juhu Versova Link Road, Andheri (West), MUMBAI 400053
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Abstract-Robotics is a vast field used for many
purposes. Robots have become peculiar in out daily life.
This project is based on robotics and many of similar
functions. The main function of this is robotic arm.
Robotic arm is a mechanism in which it can lift things
and can move in 360 degrees. It has one elbow and one
hand like structure to lift things. To move the objects
from one place to another we'll use a normal 2 tire and a
ball caster mechanism. Theo wheels will be connected to
2 motors. The third function is of object detection. We
are using object detection to analyze the obstacles which
interrupt the mobility of robot. The range of the device
used for object detection is 4 m. The fourth function used
is camera surveillance in which using the pi camera we
can monitor the movement while moving the robot. All
these functions will be controlled by raspberry pi.
Raspberry pi is 1.4GHz 64-bit quad-core processor, dual-
band wireless LAN, Bluetooth 4.2/BLE, faster Ethernet,
and Power-over-Ethernet support.
key Words: Arduino NANO, raspberry-pi, robotic
arm, Obstacle, USB camera, Ultrasonic sensor
1. INTRODUCTION:
A robot is an electromechanical machine that is
controlled by computer program to perform different
types of operations. Industrial robots have designed to
reduce human efforts and time and improve productivity
and to reduce manufacturing cost. Android app can
control the motion of the robot from a long-distance
using Bluetooth communication to interface controller
and android. Arduino NANO ATmega328P can be
interfaced to the Bluetooth module though UART
protocol and code is written in embedded C language. As
per the commands received from android app the
motion of the robot and movement of an arm can be
controlled. Pick and Place robots can be
reprogrammable and they can provide multiple
applications. Another function of this robot is camera
surveillance. Raspberry Pi 3 is used for camera
surveillance. Raspbian OS has to be installed so that the
image and videos can be seen to the android phones
directly. The purpose of this work is to design and
implement an Android Controlled Bluetooth based Robot
which can be used for Surveillance, home automation,
wheelchairs, military and hostages Rescue applications.
2. METHODOLOGY:
2.1 Arduino Nano Board:
Fig.-1: Arduino NANO
Arduino Nano Board is the brain of robot loaded by a
program written in embedded c language to do the
required functioning and it is interfaced with
Bluetooth module. The motor drivers are used to
make the system work as required.

2.2 DC Motor
Fig. -2: DC Motor
HC -05 Bluetooth module D.C. motor is controlled by DC
voltages and moves in every direction i.e. forward,
backward, left and right according to the polarity of voltage
applied. All the mechanical movements which robot
performs is accomplished by an electric motor. Electric
motor is used to power devices. An example of small motor
applications are motors used in automobiles, robot, hand
and food blenders.
2.3 Power adaptor:
This is used to give appropriate DC power supply (11 V) to
Arduino NANO, Driver IC sensors and other passive
components of the Robot.
Fig. -3: Power adaptor with 11 V battery.
2.4 HC-05 Bluetooth module:
This module is capable of communicating with pc,
mobile or any other Bluetooth enabled device. It is
interfaced with the Arduino NANO over the serial
UART port of micro-controller. Bluetooth is a wireless
communications protocol running at 2.4 GHz, with
client-server architecture, suitable for forming (PAN)
personal area networks. Bluetooth is an integral
feature designed for low power devices. Bluetooth is a
standardized feature that is available in all
Smartphone running on android, laptops and
computers. It is very handy as it can be easily fitted
with a module to allow Bluetooth based
communication.
Fig. -4 HC 05Blutooth Module
2.5. Ultrasonic sensor HC-SR04: :
The ultrasonic sensor is used for obstacle detection.
Ultrasonic sensor transmits the ultrasonic waves from its
sensor head and again receives the ultrasonic waves
reflected from an object. ultrasonic sensors can be use in
instruction alarm system, automatic door openers. The
ultrasonic sensor is very compact in size and has a very
high performance. It has both the transmitter and receiver.
It consists of four pins VCC pin to offer a 5V supply to the
sensor, trigger pin gives a TTL pulses and echo pin to get
the output from the sensor and ground pin. Ultrasonic
sensor HC-SR04 is shown in Fig. 5
Fig. -5: Ultrasonic sensor HC-SR04
2.5 Raspberry Pi 3B plus:
Raspberry Pi is used for transmitting images or videos
from use camera to the monitor or android phone. The
surveillance is carry out wirelessly with the help of Wi-Fi
or ip Address of a Raspberry Pi. Raspberry pi is
connected with the dongle which enables raspberry pi to
transmit over the web network. Raspberry Pi uses an SD
card for booting and for memory because it doesn’t have
an inbuilt hard disk for storage. Raspberry Pi require 5
volt supply with minimum of 700- 1000 mA current and
it is powered through micro USB cable. ARM11 only
requires 3.3 volt of supply which it takes with the help of

the linear regulator. 5 volt is required for the USB ports.
It operates at 700M Hz. We use python to write code into
the raspberry pi.
Fig. -6: Raspberry pi 3B Plus
2.6 Motor Driver IC L298N :
IC L298N can be used with motors which have a voltage
range of between 5 and 35V DC. With the help of IC
L298N it is quite easy to control one or two DC motors.
The L298N module has two screw terminal blocks for
the motor A and B, and another screw terminal block for
the Ground pin, the VCC for motor and a 5V pin which
can either be an input or output.
Fig. -7: Motor Driver IC L298N
3. SYSTEM ARCHITECTURE:
3.1 Pick and Place arm and Robot:
Fig. -8: Block diagram of proposed system
A robot can be controlled using Bluetooth module HC-05
and Arduino Nano Board with android Smartphone
device. The data receive by the Bluetooth module from
android smart phone is fed input to the controller. The
controller acts accordingly on the DC motor of the robot.
The robot can move in all the four directions using the
android phone. Android smart phone can connect to the
nano board with the help of Bluetooth.
Fig.9 -: Sequence Diagram1

In above Fig 9 an interaction of a user with the robot has
been shown. A user can interact with robot with the help
of application. In this project we made an app named
“Roboarm” on MIT Inventor. User can install this app on
their android Smartphone and can control the
movements of arm or give the directions to the robot.
Fig. -10: Deployment Diagram
Fig. -11: Communication Diagram
3.2 Camera Surveillance:
Fig.12: Flow Chart of the working
4 Software Implementation:
4.1 MIT App Inventor:
App Inventor for Android is an open-source web
application provided by Google and now maintained by
the Massachusetts Institute of Technology. It allows
computer program to create software applications for
the Android operating system. MIT App Inventor is an
innovative beginner's introduction to programming and
app creation that transforms the complex language of
text-based coding into visual, drag-and-drop building
blocks. The simple graphical interface grants even an
inexperienced person to create a basic, fully functional
app within an hour.

Fig. -13: Working of MIT APP Inventor
App Inventor involves three steps :
(i) App inventor designer,
(ii) App Inventor Blocks editor,
(iii) An emulator or Android Phone.
The set-up process for the software is very easy. Also the
system requirements are very basic. It is compatible
with Windows and Linux Operating systems. Browsers
required for the software are Mozilla Firefox 3.6 or
higher, Apple Safari 5.0 or higher, Google Chrome 4.0 or
higher.
4.2 App Inventor Designer
The first phase of an application design passes through
App Inventor Designer. The design is accessible through
the web page and all the ingredients for the app are
available on the left side of the window. An ingredient
contains elements like a screen for the app, buttons for
tapping, text boxes, images, labels, animations and many
more. The extreme right side of the designer allows
users to view the screen and components added to the
screen. The properties section of the window allows
users to modify the properties of components. Adding the
components to the screen is drag and drop process. The
alignment of the components can be selected through
alignment options. Several non-visible components are also
added to the screen, which can be explored later in the
block’s editor. On the left of the screen is a list of the
components which can be dragged and dropped onto the
Android screen.
Fig. -14: App inventor Designer(Robot)
Fig. -15: Inventor App inventor Block Editor
4.3 An emulator or Android phone:
The last part of the application design is testing the
application App Inventor gives the option of testing the
application in an emulator which is very similar to the
real device but with some limitations. The user can

connect the application to the emulator via the connect
option and test how the application functions in real
world. Also the user can directly connect the android
phone to the computer via USB connecter and test the
application. Real time testing is the best option for
monitoring the application function.
4.4. Android Application:
Roboarm is the name of the android application designed
for this project. It was designed through App Inventor. The
basic function of the application is to control the robot & to
control the movement of the pick and place arm. It has
different buttons integrated to it. Each button has different
functions.
Fig. -16: Inventor App on mobile (Robot)
Fig. -17: Inventor App on mobile (Arm)
Fig.18 -: Android phone-controlled robot
7. Applications:
 This project can be used at homes for
many purposes like picking up and placing
some objects from one to other.
 Since spying on someone is a sensitive task
instead of humans this robot can help in
spying operations.
 Making video surveillance of any disaster
affected area where human beings cannot
go.
 This pick and place surveillance robot can
be use as a prototype in various industries
as well as in military .
8. Conclusions:
An operating system of smart phone is android which
can develop effective remote control program. This
program uses blue-tooth module to communicate with
robot. It has proven to allow for meaningful two-way
communication between the Android phone and the
robot which would allow a non-expert to interact with
and adjust the functionality of a system which uses
ATmega328P controller intended to make the

application of interactive objects or environments more
accessible.
Also, the ultrasonic sensor was studied and the HcSR-04
ultrasonic sensor was selected to sense the obstacle and
avoidance them.
In this project we used raspberry pi 3B+ which is
working on Raspbian OS. As the communication is done
with the help of internet so limitation of range of
operation does not arise and thus we can monitor any
remote areas. One can easily monitor as well as control
the activity of the robotic unit wirelessly with the help of
raspberry pi. The surveillance is always has been a quite
sensitive task and it includes so many risks. So, it’s better
to use robot for this job instead of people to reduce
human efforts and risks. And if you are able to control
the robots with efficiency and accuracy then you can
guarantee yourself with good results and success. This
system is a good step for secure surveillance using
robots.
9. References:
[1] Arpit Sharma1, Reetesh Varma2, Saurabh
Gupta3 and Sukhdeep Bhatia4, “Android Phone
Controlled Robot Using Bluetooth” IJEEE ISSN
0974-2174, Volume 7, Number 5 (2014, pp. 443-
448)
[2] “Design and Implementation of Multi Handling
Pick and Place Robotic Arm”, Mohd Ashiq
Kamaril, Yusuff, Reza Ezucin Samin, Babul
Salam.
[3] Anusha S, Sandhya G.S “Obstacle detection and
their movement for Automobiles”, International
journal of innovative technology and Research
volume-4, Issue-6, October 2016
[4] https://create.arduino.cc/projecthub/albertoz/
obstacle-avoiding-robot-fb30e4
[5] www.circuitdigest.com/webcontrolled robotic
surveillance car

IRJET - Pick and Place Surveillance Robot

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